Robotic map building by fusing ICP and PSO algorithms

Yin Yu Lu, Chen Chien Hsu, Hua En Chang, Wen Chung Kao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes the use of Particle Swarm Optimization (PSO) to work with an Enhanced-ICP to effectively filter out outliers and avoid false matching points during the map building of an unknown environment, where PSO is used to solve the local optima problem to obtain better transformation results for two data sets with excessive difference in initial position and direction. Then, we use part of global map as the reference data set with overlapping points for subsequent data matching. Experimental results show that the proposed algorithm not only solves outlier and noise problems but also reduces false matching points so that it has better alignment and smaller accumulated errors for map building.

Original languageEnglish
Title of host publicationProceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin
EditorsFrancisco J. Bellido, Dietmar Hepper, Hans L. Cycon, Alexander Huhn
PublisherIEEE Computer Society
Pages263-265
Number of pages3
EditionFebruary
ISBN (Electronic)9781479961658
DOIs
Publication statusPublished - 2015 Feb 5
Event2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin - Berlin, Germany
Duration: 2014 Sep 72014 Sep 10

Publication series

NameIEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
NumberFebruary
Volume2015-February
ISSN (Print)2166-6814
ISSN (Electronic)2166-6822

Other

Other2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
CountryGermany
CityBerlin
Period14/9/714/9/10

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Keywords

  • Iterative Closest Point
  • Map Building
  • Mobile Robot
  • Particle Swarm Optimization

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Media Technology

Cite this

Lu, Y. Y., Hsu, C. C., Chang, H. E., & Kao, W. C. (2015). Robotic map building by fusing ICP and PSO algorithms. In F. J. Bellido, D. Hepper, H. L. Cycon, & A. Huhn (Eds.), Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin (February ed., pp. 263-265). [7034273] (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; Vol. 2015-February, No. February). IEEE Computer Society. https://doi.org/10.1109/ICCE-Berlin.2014.7034273